Add TechnicLargeAngularMotor (Grey) (#108)

- Add TechnicLargeAngularMotor - Updated README #75 non-breaking
sharpbrick · Oct 15, 2020 · 9bb4714 · 9bb4714
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diff --git a/README.md b/README.md
@@ -264,7 +264,10 @@ DI Container Elements
     - [X] Train Motor (88011)
     - [X] Technic Large Motor (88013)
     - [X] Technic XLarge Motor (88014)
-    - [ ] Technic Angular Motor (depend on availability of hardware / contributions)
+    - [ ] Technic Medium Angular Motor (Spike)
+    - [ ] Technic Medium Angular Motor (Grey)
+    - [ ] Technic Large Angular Motor (Spike)
+    - [X] Technic Large Angular Motor (Grey)
     - .. other devices depend on availability of hardware / contributions
 - Protocol
   - [X] Message Encoding (98% [spec coverage](docs/specification/coverage.md))

diff --git a/src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs b/src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs
@@ -36,6 +36,7 @@ public Type GetTypeFromDeviceType(DeviceType deviceType)
                 DeviceType.SystemTrainMotor => typeof(SystemTrainMotor),
                 DeviceType.TechnicLargeLinearMotor => typeof(TechnicLargeLinearMotor),
                 DeviceType.TechnicXLargeLinearMotor => typeof(TechnicXLargeLinearMotor),
+                DeviceType.TechnicLargeAngularMotorGrey => typeof(TechnicLargeAngularMotorGrey),
                 DeviceType.TechnicMediumHubGestureSensor => typeof(TechnicMediumHubGestureSensor),
                 DeviceType.TechnicMediumHubAccelerometer => typeof(TechnicMediumHubAccelerometer),
                 DeviceType.TechnicMediumHubGyroSensor => typeof(TechnicMediumHubGyroSensor),
@@ -54,6 +55,7 @@ public static DeviceType GetDeviceTypeFromType(Type type)
                 nameof(SystemTrainMotor) => DeviceType.SystemTrainMotor,
                 nameof(TechnicLargeLinearMotor) => DeviceType.TechnicLargeLinearMotor,
                 nameof(TechnicXLargeLinearMotor) => DeviceType.TechnicXLargeLinearMotor,
+                nameof(TechnicLargeAngularMotorGrey) => DeviceType.TechnicLargeAngularMotorGrey,
                 nameof(TechnicMediumHubGestureSensor) => DeviceType.TechnicMediumHubGestureSensor,
                 nameof(TechnicMediumHubAccelerometer) => DeviceType.TechnicMediumHubAccelerometer,
                 nameof(TechnicMediumHubGyroSensor) => DeviceType.TechnicMediumHubGyroSensor,

diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicLargeAngularMotorGrey.cs b/src/SharpBrick.PoweredUp/Devices/TechnicLargeAngularMotorGrey.cs
@@ -0,0 +1,66 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using SharpBrick.PoweredUp.Protocol;
+using SharpBrick.PoweredUp.Utils;
+
+namespace SharpBrick.PoweredUp
+{
+    public class TechnicLargeAngularMotorGrey : AbsoluteMotor, IPoweredUpDevice
+    {
+        public TechnicLargeAngularMotorGrey()
+            : base()
+        { }
+        public TechnicLargeAngularMotorGrey(ILegoWirelessProtocol protocol, byte hubId, byte portId)
+            : base(protocol, hubId, portId)
+        { }
+
+        public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
+            => @"
+0B-00-43-00-01-0F-06-0E-00-0F-00
+07-00-43-00-02-0E-00
+11-00-44-00-00-00-50-4F-57-45-52-00-00-00-00-00-00
+0E-00-44-00-00-01-00-00-C8-C2-00-00-C8-42
+0E-00-44-00-00-02-00-00-C8-C2-00-00-C8-42
+0E-00-44-00-00-03-00-00-C8-C2-00-00-C8-42
+0A-00-44-00-00-04-50-43-54-00
+08-00-44-00-00-05-00-50
+0A-00-44-00-00-80-01-00-04-00
+11-00-44-00-01-00-53-50-45-45-44-00-00-00-00-00-00
+0E-00-44-00-01-01-00-00-C8-C2-00-00-C8-42
+0E-00-44-00-01-02-00-00-C8-C2-00-00-C8-42
+0E-00-44-00-01-03-00-00-C8-C2-00-00-C8-42
+0A-00-44-00-01-04-50-43-54-00
+08-00-44-00-01-05-30-70
+0A-00-44-00-01-80-01-00-04-00
+11-00-44-00-02-00-50-4F-53-00-00-00-00-00-00-00-00
+0E-00-44-00-02-01-00-00-B4-C3-00-00-B4-43
+0E-00-44-00-02-02-00-00-C8-C2-00-00-C8-42
+0E-00-44-00-02-03-00-00-B4-C3-00-00-B4-43
+0A-00-44-00-02-04-44-45-47-00
+08-00-44-00-02-05-28-68
+0A-00-44-00-02-80-01-02-0B-00
+11-00-44-00-03-00-41-50-4F-53-00-00-00-00-00-00-00
+0E-00-44-00-03-01-00-00-34-C3-00-00-33-43
+0E-00-44-00-03-02-00-00-48-C3-00-00-48-43
+0E-00-44-00-03-03-00-00-34-C3-00-00-33-43
+0A-00-44-00-03-04-44-45-47-00
+08-00-44-00-03-05-32-72
+0A-00-44-00-03-80-01-01-03-00
+11-00-44-00-04-00-43-41-4C-49-42-00-00-00-00-00-00
+0E-00-44-00-04-01-00-00-00-00-00-00-61-45
+0E-00-44-00-04-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-04-03-00-00-00-00-00-00-61-45
+0A-00-44-00-04-04-43-41-4C-00
+08-00-44-00-04-05-00-00
+0A-00-44-00-04-80-02-01-05-00
+11-00-44-00-05-00-53-54-41-54-53-00-00-00-00-00-00
+0E-00-44-00-05-01-00-00-00-00-00-FF-7F-47
+0E-00-44-00-05-02-00-00-00-00-00-00-C8-42
+0E-00-44-00-05-03-00-00-00-00-00-FF-7F-47
+0A-00-44-00-05-04-4D-49-4E-00
+08-00-44-00-05-05-00-00
+0A-00-44-00-05-80-0E-01-05-00
+".Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
+    }
+}
diff --git a/src/SharpBrick.PoweredUp/Enums/DeviceType.cs b/src/SharpBrick.PoweredUp/Enums/DeviceType.cs
@@ -37,5 +37,7 @@ public enum DeviceType : ushort
         TechnicColorSensor = 0x003D, // UNSPECED, TECHNIC_COLOR_SENSOR (Spike Prime)
         TechnicDistanceSensor = 0x003E, // UNSPECED, TECHNIC_DISTANCE_SENSOR (Spike Prime)
         TechnicForceSensor = 0x003F, // UNSPECED, TECHNIC_FORCE_SENSOR (Spike Prime)
+        TechnicMediumAngularMotorGrey = 0x004B, // UNSPECED, TECHNIC_MEDIUM_ANGULAR_MOTOR_GREY (Control+)
+        TechnicLargeAngularMotorGrey = 0x004C, // UNSPECED, TECHNIC_LARGE_ANGULAR_MOTOR_GREY (Control+)
     }
 }